Stm_common/stm32 任务管理/scheduler.c

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//        头文件区
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#include <stdio.h>
#include "scheduler.h"
#include "stm32f30x.h"

static Task_Block_t task_block[TASK_NUM]; // 任务块 根据需求设定任务数量
Task_Ctrl_t Task_Ctrl;                    // 任务控制块

void SysTick_Handler(void)
{
    ISR_CallBlack(&Task_Ctrl); // 每次系统时钟中断，时钟周期加1
}

/**
 * @author
 * @brief 	任务添加函数
 * @param  任务执行时间间隔
 * @param  任务ID 同时表示任务优先级
 * @param  任务主体函数
 * @retval NULL
 */
void TaskAdd(uint8_t task_id, Task_Handler_t task, uint32_t on_time)
{
    if(task_id >= TASK_NUM){
        return;
    }
    task_block[task_id].On_Time = on_time;
    task_block[task_id].RunTime = 0;
    task_block[task_id].Task_Handler = task;
    task_block[task_id].TaskState = 0;
}

/*更新任务状态*/
void UpdateTask(p_Task_Block_t Task_Block)
{
    Task_Block->RunTime = 0;
    Task_Block->TaskState = 1;
}

/*任务初始化函数*/
void TaskInit(void)
{
    Task_Ctrl.Update_State = UpdateTask;
    Task_Ctrl.Task = task_block;

    SysTick_Config(SystemCoreClock / 1000);
}

/*放在1ms中断中*/
void ISR_CallBlack(p_Task_Ctrl_t Task_Ctrl)
{
    if (Task_Ctrl->Task != NULL)
    {
        for (uint8_t i = 0; i < TASK_NUM; i++)
        {
            Task_Ctrl->Task[i].RunTime++;
            if (Task_Ctrl->Task[i].RunTime > Task_Ctrl->Task[i].On_Time)
            {
                if(Task_Ctrl->Update_State) {
                    Task_Ctrl->Update_State(&Task_Ctrl->Task[i]);
                }
            }
        }
    }
}

void TaskStart()
{
    static uint8_t i = 0;
    while (1)
    {
        for (i = 0; i < TASK_NUM; i++)
        {
            if (Task_Ctrl.Task[i].TaskState)
            {
                Task_Ctrl.Task[i].TaskState = 0;
                if(Task_Ctrl.Task[i].Task_Handler) {
                    Task_Ctrl.Task[i].Task_Handler();
                }
            }
        }
    }
}